Tactile MNIST: Benchmarking Active Tactile Perception
Overview
This paper presents the Tactile MNIST Benchmark Suite, an open-source, Gymnasium-compatible framework designed to standardize active tactile perception research. The suite includes diverse simulation scenarios and a comprehensive dataset featuring 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Additionally, the authors train a CycleGAN for realistic tactile simulation rendering, providing standardized protocols and reproducible evaluation frameworks to facilitate systematic progress in tactile sensing and active perception.
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Environment: simulation
“ing vision-based tactile sensors. Furthermore, we offer a comprehensive dataset comprising 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Using this dataset, we train a CycleGAN for realistic tactile simulation rendering. By providing standardized protocols and reproducible evaluation frameworks, our benchmark suite facilitates systematic progress i”
Exact source · revision 1Source owner not reported
Reported quantity · real-world tactile samples: 153600 other · Basis not reported
“ing vision-based tactile sensors. Furthermore, we offer a comprehensive dataset comprising 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Using this dataset, we train a CycleGAN for realistic tactile simulation rendering. By providing standardized protocols and reproducible evaluation frameworks, our benchmark suite facilitates systematic progress i”
Exact source · revision 1Source owner not reported
Reported quantity · synthetic 3D MNIST digit models: 13580 other · Basis not reported
“ing vision-based tactile sensors. Furthermore, we offer a comprehensive dataset comprising 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Using this dataset, we train a CycleGAN for realistic tactile simulation rendering. By providing standardized protocols and reproducible evaluation frameworks, our benchmark suite facilitates systematic progress i”
Exact source · revision 1Source owner not reported
Reported quantity · printed digits: 600 other · Basis not reported
“ing vision-based tactile sensors. Furthermore, we offer a comprehensive dataset comprising 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Using this dataset, we train a CycleGAN for realistic tactile simulation rendering. By providing standardized protocols and reproducible evaluation frameworks, our benchmark suite facilitates systematic progress i”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalTactile MNIST: Benchmarking Active Tactile Perception
This paper presents the Tactile MNIST Benchmark Suite, an open-source, Gymnasium-compatible framework designed to standardize active tactile perception research. The suite includes diverse simulation scenarios and a comprehensive dataset featuring 13,580 synthetic 3D MNIST digit models and 153,600 real-world tactile samples collected from 600 3D-printed digits. Additionally, the authors train a CycleGAN for realistic tactile simulation rendering, providing standardized protocols and reproducible evaluation frameworks to facilitate systematic progress in tactile sensing and active perception.
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